Offline programming device and position-parameter correcting method
Provided is an offline programming device that generates, while being offline, a program for operating a robot, wherein, when a coordinate system that serves as a reference for the robot is changed, a position parameter generated on the basis of a coordinate system before the change is automatically corrected on the basis of the coordinate system before the change and a coordinate system after the change so that absolute positions of the position parameter become equal to each other before and after the change.
1. An offline programming device that generates, while being offline, a program for operating a robot, the offline programming device comprising:
a matrix calculating portion that calculates a conversion matrix with which, when a coordinate system that serves as a reference for the robot is changed, the coordinate system before the change is converted to a coordinate system after the change;
a parameter selecting portion that selects a position parameter to which the conversion matrix is applied; and
a parameter correcting portion that corrects the selected position parameter by applying the conversion matrix thereto.
2. An offline programming device according to claim 1 , wherein the coordinate system that serves as the reference for the robot is changed when the model of the robot is changed.
3. An offline programming device according to claim 1 , wherein the position parameter includes position data that serves as a reference in the operating program.
4. A position-parameter correcting method in an offline programming device that generates, while being offline, a program for operating a robot, the position-parameter correcting method comprising:
calculating a conversion matrix with which, when a coordinate system that serves as a reference for the robot is changed, the coordinate system before the change is converted to a coordinate system after the change;
selecting a position parameter to which the conversion matrix is applied; and
correcting the selected position parameter by applying the conversion matrix thereto.